Optoelectronic Sensing of the Deformation of Continuum Structures
软体机器人：连续体结构大形变的光电传感方案
Robert Sherphern
ABSRACT
A variety of stretchable sensors exist, typically used as “skins” for high density shape sensing measurements to improve control authority in high degree of freedom (passive or active) continuum structures and actuators. This talk will discuss the use of light as a sensing medium for measuring deformation in the “meat” of these compliant structures and actuators. Two classes of sensors will be presented, one that relies on the transmission of light through arrays of lossy optical light guides, and another that uses a sort of diffusing wave spectroscopy in combination with machine learning to infer structure. Use cases for these sensors will be presented as well as discussion of their relative benefits, current challenges, and future directions as it pertains to soft actuators and deformable interfaces.
软体驱动器的连续体结构通常可以实现高自由度的形变和复杂运动。针对于这些运动模式的高精度感知和控制启发了一系列高适应性、可拉伸的柔性传感器。这类传感器已被广泛应用于模拟人体皮肤的电子材料和器件领域。本讲座将讨论使用光作为传感媒介来测量这些顺应性结构和驱动器的软体结构中的变形。在这次报告中，我将阐述两种利用光信号实现在复杂结构和软体驱动器中测量形变的高精度柔性传感器方案。方案一利用了光信号在阵列型波导管传播中的自然衰减；方案二利用了机器学习方法对扩散光谱数据进行特征提取。使用两种方案制造的柔性传感器都实现了对于复杂结构、形变和运动模式的精确测量。这类新型器件可以为包括软体驱动器和可变形界面在内的广泛应用提供新的研究途径和研究方向。
BIOGRAPHY
Rob Shepherd is an associate professor at Cornell University in the Sibley School of Mechanical & Aerospace Engineering. He received his B.S. (Material Science & Engineering), Ph.D. (Material Science & Engineering), and M.B.A. from the University of Illinois in Material Science & Engineering. At Cornell, he runs the Organic Robotics Lab (ORL: http://orl.mae.cornell.edu), which focuses on using methods of invention, including bioinspired design approaches, in combination with material science to improve machine function and autonomy. We rely on new and old synthetic approaches for soft material composites that create new design opportunities in the field of robotics. Our research spans three primary areas: bioinspired robotics, advanced manufacturing, and human- robot interactions. He is the recipient of an Air Force Office of Scientific Research Young Investigator Award, an Office of Naval Research Young Investigator Award, and his lab’s work has been featured in popular media outlets such as the BBC, Discovery Channel, and PBS’s NOVA documentary series.
罗布·谢泼德（Rob Shepherd）博士是美国康奈尔大学机械与航空航天学院的副教授。他在美国伊利诺伊大学材料科学与工程系分别获得学士和博士学位，同时获得伊利诺伊大学工商管理学硕士。2013 年起，他在康奈尔大学组建了有机机器人实验室（http://orl.mae.cornell.edu）。他的研究领域集中在基于先进制造方法和生物仿生对于有机软性新材料性质和功能的改进提升，并利用这些设计方案为机器人领域实现了材料合成和制造方面的新突破。Rob Shepherd课题组的研究涵盖三个主要领域：生物仿生机器人技术，先进的制造技术以及人机交互。他是美国 Air Force Office of Scientific Research Young Investigator 奖和 Office of Naval Research Young Investigator 奖的获得者。他的研究成果多次被包括BBC、Discovery Channel和PBS NOVA 纪录片等在内的多家国际知名媒体报道。